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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_307.svg
Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A) 
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint,
3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep.

NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference
manual. Cortex-M4 96MHz MCU running the G2 firmware.

Reyax RYS352A GPS module: datasheet and PAIR command guide.
GPS receiver on the G2 board (used for auto-location/satellite lookup).

All extracted as markdown + page images + vector SVGs for LLM context.
Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
2026-02-14 18:36:42 -07:00

729 lines
64 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="12" font-family="HelveticaLTStd" font-weight="bold"><tspan y="10.3" x="131.652 139.65599 142.99199 152.98799 159.65999 167.66399 176.32799 185.66399 194.32799 200.99999 204.33599 208.33199 211.66799 218.33998 221.67598 229.00798 232.34398 239.67598 246.34798 253.01998 259.692 264.36 267.69599 275.02799 279.024 282.36 289.692 297.024 303.69599 307.03199 311.02799 317.69999 325.03199 332.36399 336.36 339.69599 347.02799 354.36 361.03199 368.36399">SIM_SCGC5 field descriptions (continued)</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.5 76.18281)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="25.794 31.293002 33.795003 38.799005 41.301004">Field</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 132.1 76.18281)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="7.83789" x="187.94699 194.44499 199.44899 204.45299 209.45699 212.958 215.45999 220.95899 223.95598 226.45798 231.95697">Description</tspan></text>
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<g clip-path="url(#clip_4)">
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</g>
<path transform="matrix(1,0,0,1,131.85,90.182819)" d="M0 0H423.90003V24H0Z" fill="#ffffff" fill-rule="evenodd"/>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 90.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 32.004 36.504 41.508005 46.512006 48.510007 53.514009">Clock disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 101.182819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 35.010004 40.014005 45.018007 47.016008 52.020009">Clock enabled</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,116.432819)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 118.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">12</tspan><tspan y="18.83789" x="19.8 25.803 32.805 39.303 44.802003">PORTD</tspan></text>
<g clip-path="url(#clip_6)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 118.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 14.004001 16.506 19.008002 25.506003 28.008004 34.506006 36.504007 41.508008 46.008008 50.508008 53.010007 60.012006 65.01601 67.518009 72.522 75.024 81.522 86.526 91.53 94.032 97.029 102.033">Port D Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.575 159.579 162.57599 165.07799 167.57999 174.07799 176.57999 184.07698 189.08098 194.08498 199.08898 201.08698 206.09098">This bit controls the clock gate to the Port D module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 160.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 160.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 32.004 36.504 41.508005 46.512006 48.510007 53.514009">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 171.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 171.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 35.010004 40.014005 45.018007 47.016008 52.020009">Clock enabled</tspan></text>
<g clip-path="url(#clip_7)">
<path transform="matrix(1,0,0,1,53.999994,186.93282)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 189.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">11</tspan><tspan y="18.83789" x="19.8 25.803 32.805 39.303 44.802003">PORTC</tspan></text>
<g clip-path="url(#clip_8)">
<path transform="matrix(1,0,0,1,53.999994,186.93282)" d="M75.85001 .25H503.75004V70.25H75.85001Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 189.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 14.004001 16.506 19.008002 25.506003 28.008004 34.506006 36.504007 41.508008 46.008008 50.508008 53.010007 60.012006 65.01601 67.518009 72.522 75.024 81.522 86.526 91.53 94.032 97.029 102.033">Port C Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.575 159.579 162.57599 165.07799 167.57999 174.07799 176.57999 184.07698 189.08098 194.08498 199.08898 201.08698 206.09098">This bit controls the clock gate to the Port C module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 231.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 231.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 32.004 36.504 41.508005 46.512006 48.510007 53.514009">Clock disabled</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 242.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 6.4980008 8.496 13.500001 18 22.5 25.002 30.006 35.010004 40.014005 45.018007 47.016008 52.020009">Clock enabled</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,257.4328)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 259.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">10</tspan><tspan y="18.83789" x="20.051999 26.054999 33.057 39.555 45.054">PORTB</tspan></text>
<g clip-path="url(#clip_10)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 259.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 14.004001 16.506 19.008002 25.011002 27.513003 34.011 36.009004 41.013006 45.513006 50.013006 52.515005 59.517004 64.521 67.023 72.027 74.529 81.027 86.031 91.034999 93.536998 96.534 101.537998">Port B Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.575 159.579 162.57599 165.07799 167.57999 173.583 176.08499 183.58199 188.58599 193.58998 198.59398 200.59198 205.59598">This bit controls the clock gate to the Port B module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 301.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 301.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 8.49604 13.500041 18.000042 22.500042 25.002043 30.006043 32.004045 36.504045 41.508047 46.512048 48.510049 53.51405">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 312.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 312.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 8.49604 13.500041 18.000042 22.500042 25.002043 30.006043 35.010046 40.014047 45.018049 47.01605 52.02005">Clock enabled</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 330.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">9</tspan><tspan y="18.83789" x="20.052 26.055 33.057 39.555 45.054">PORTA</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 330.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 6.0030004 11.007001 14.004001 16.506 19.008002 25.011002 27.513003 34.011 36.009004 41.013006 45.513006 50.013006 52.515005 59.517004 64.521 67.023 72.027 74.529 81.027 86.031 91.034999 93.536998 96.534 101.537998">Port A Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.575 159.579 162.57599 165.07799 167.57999 173.583 176.08499 183.58199 188.58599 193.58998 198.59398 200.59198 205.59598">This bit controls the clock gate to the Port A module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 372.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 372.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00004 6.4980409 8.49604 13.500041 18.000042 22.500042 25.002043 30.006043 32.004045 36.504045 41.508047 46.512048 48.510049 53.51405">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 383.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 383.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00004 6.4980409 8.49604 13.500041 18.000042 22.500042 25.002043 30.006043 35.010046 40.014047 45.018049 47.01605 52.02005">Clock enabled</tspan></text>
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 400.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="28.044 33.048 38.052003">8&#x2013;7</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_14)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 400.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 1.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 427.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">6</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_16)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 427.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<path transform="matrix(1,0,0,1,53.999994,451.4328)" d="M.25 .25H75.35001V70.25H.25Z" fill="#ffffff" fill-rule="evenodd"/>
</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 453.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">5</tspan><tspan y="18.83789" x="28.548 34.047 40.050004">TSI</tspan></text>
<g clip-path="url(#clip_18)">
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</g>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 453.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 11.502001 14.004002 16.506003 23.004004 25.002003 30.006005 34.506006 39.006006 41.508005 48.510004 53.514005 56.016004 61.020006 63.522005 70.020008 75.024 80.028 82.53 85.527 90.531">TSI Clock Gate Control</tspan><tspan y="28.83789" x="0 5.499 10.503 12.501 17.001 19.503 24.507 26.505002 29.007002 31.509003 36.009004 41.013006 46.017007 48.519006 51.516008 56.520009 58.51801 63.01801 65.52001 68.02201 73.02601 78.03001 80.532009 85.032009 87.03001 92.034008 96.534008 101.034008 103.536 108.54 113.544 116.046 121.049999 123.551998 126.05399 131.058 133.56 136.062 141.066 146.06999 148.57199 154.07099 160.07399 162.57599 165.07799 172.57498 177.57898 182.58298 187.58698 189.58498 194.58898">This bit controls the clock gate to the TSI module.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 495.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002">0</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 495.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 32.004026 36.504026 41.508028 46.512029 48.51003 53.51403">Clock disabled</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 506.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002">1</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 148.08042 506.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x=".00002 6.4980208 8.496021 13.500022 18.000023 22.500023 25.002024 30.006024 35.010026 40.014028 45.01803 47.01603 52.02003">Clock enabled</tspan></text>
<g clip-path="url(#clip_19)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 524.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">4</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
<g clip-path="url(#clip_20)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="315.468 321.96598 327.46498 332.46897 337.96797 340.96498 345.96897 349.46998 351.972 356.97599 361.97999 364.482 370.485 375.48899 380.49299 383.49 388.494 396.495 398.997 401.49903 406.99803 409.99504 414.99903 420.49803 423.99903 429.00303 432.00004 434.50205 440.00105 445.50004 448.00205 455.49906 460.99806 466.49705 471.99604 474.49806 479.50205 482.00407 485.00108 491.00407 493.50608 501.00309">Chapter 12 System Integration Module (SIM)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">307</tspan></text>
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